System, method and apparatus for object identification

ABSTRACT

The present disclosure provides a system, a method and an apparatus for object identification, capable of solving the problem in the related art that a system for centralized control and management of unmanned vehicles may not be able to identify an object effectively. The system for object identification includes a sensing device, a control device and one or more unmanned vehicles. The control device is configured to determine an object not belonging to a predetermined category as an unknown object by performing object identification based on sensed data; mark the unknown object in the sensed data including the unknown object; determine an unmanned vehicle within a predetermined range from the unknown object; transmit the sensed data with the marked unknown object and an instruction to identify the unknown object to the determined unmanned vehicle; receive a feedback message from the unmanned vehicle, and when the feedback message carries information on an object category, save the information on the object category and mark a category of the unknown object as the saved object category.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/272,918, titled “SYSTEM, METHOD AND APPARATUS FOR OBJECTIDENTIFICATION,” filed on Feb. 11, 2019, which in turn claims priorityto Chinese patent Application No. 201810142084.0 of the same title andcontent that was filed by Applicant Beijing Tusen Weilai Technology Co.,Ltd. at the State Intellectual Property Office of China (SIPO) on Feb.11, 2018. The disclosures of these applications are hereby incorporatedby reference in their entirety herein.

TECHNICAL FIELD

The present disclosure relates to intelligent transportation, and moreparticularly, to a system, a method and an apparatus for objectidentification.

BACKGROUND

In the related art, in some application scenarios, a control system istypically required for controlling and managing unmanned vehiclesrunning in a particular area or site. With sensing devices provided inthe area or site for sensing vehicles and road conditions, the controlsystem can identify objects based on sensed data and control and managethe vehicles based on the identified objects, including route planningand driving policy decision.

However, in some application scenarios, due to limitations ininstallation locations, angles, heights and the like, the sensingdevices may not obtain full information on sensed objects. For example,for a camera in a sensing device to obtain information on an object on aroad, due to limitation in its installation angle or installationlocation, it may only obtain information on one surface or one side ofthe object, such that the control system may not be able to determinethe category of the object.

That is, there is a problem that a control system for centralizedcontrol and management of unmanned vehicles may not be able to identifyan object effectively.

SUMMARY

In view of the above problem, the present disclosure provides a system,a method and an apparatus for object identification, capable of solvingthe problem in the related art that a system for centralized control andmanagement of unmanned vehicles may not be able to identify an objecteffectively.

In an aspect of the embodiments of the present disclosure, a system forobject identification is provided. The system includes a sensing device,a control device and one or more unmanned vehicles. The sensing deviceis configured to sense a vehicle running condition and a road conditionto obtain sensed data. The control device is configured to determine anobject not belonging to a predetermined category as an unknown object byperforming object identification based on the sensed data; mark theunknown object in the sensed data including the unknown object;determine an unmanned vehicle within a predetermined range from theunknown object; transmit the sensed data with the marked unknown objectand an instruction to identify the unknown object to the determinedunmanned vehicle; receive a feedback message from the unmanned vehicle,and when the feedback message carries information on an object category,save the information on the object category and mark a category of theunknown object as the saved object category. The unmanned vehicle isconfigured to receive the instruction and the sensed data from thecontrol device; identify an object based on sensed data obtained at theunmanned vehicle; compare the object in the sensed data from the controldevice with the identified object to determine whether the unknownobject marked in the sensed data has been identified, and if so,transmit to the control device the feedback message carrying theinformation on the object category of the identified unknown object.

In an aspect of the embodiments of the present disclosure, a method forobject identification is provided. The method includes: determining, bya control device, an object not belonging to a predetermined category asan unknown object by performing object identification based on senseddata from a sensing device, the sensed data being obtained by thesensing device sensing a vehicle miming condition and a road condition;marking the unknown object in the sensed data including the unknownobject; determining an unmanned vehicle within a predetermined rangefrom the unknown object; transmitting the sensed data with the markedunknown object and an instruction to identify the unknown object to thedetermined unmanned vehicle; and receiving a feedback message from theunmanned vehicle, and when the feedback message carries information onan object category, saving the information on the object category andmarking a category of the unknown object as the saved object category.The information on the object category carried in the feedbackinformation is the information on the object category of the unknownobject identified by the unmanned vehicle and is included in thefeedback information by the unmanned vehicle in response to identifyingan object based on sensed data obtained at the unmanned vehicle,comparing the object in the sensed data from the control device with theidentified object and determining that the unknown object has beenidentified.

In an aspect of the embodiments of the present disclosure, an apparatusfor object identification is provided. The apparatus includes: a firstdetermining module configured to determine an object not belonging to apredetermined category as an unknown object by performing objectidentification based on sensed data from a sensing device, the senseddata being obtained by the sensing device sensing a vehicle runningcondition and a road condition; a marking module configured to mark theunknown object in the sensed data including the unknown object; a seconddetermining module configured to determine an unmanned vehicle within apredetermined range from the unknown object; a transceiving moduleconfigured to transmit the sensed data with the marked unknown objectand an instruction to identify the unknown object to the determinedunmanned vehicle and receive a feedback message from the unmannedvehicle, the feedback information carrying information on an objectcategory which is information on an object category of the unknownobject identified by the unmanned vehicle and is included in thefeedback information by the unmanned vehicle in response to identifyingan object based on sensed data obtained at the unmanned vehicle,comparing the object in the sensed data from the control device with theidentified object and determining that the unknown object has beenidentified; and a saving module configured to save, when the feedbackmessage carries the information on the object category, the informationon the object category and mark a category of the unknown object as thesaved object category.

In an aspect of the embodiments of the present disclosure, an apparatusfor object identification is provided. The apparatus includes aprocessor and at least one memory storing at least one machineexecutable instruction. The processor is operative to execute the atleast one machine executable instruction to: determine an object notbelonging to a predetermined category as an unknown object by performingobject identification based on sensed data from a sensing device, thesensed data being obtained by the sensing device sensing a vehiclerunning condition and a road condition; mark the unknown object in thesensed data including the unknown object; determine an unmanned vehiclewithin predetermined range from the unknown object; transmit the senseddata with the marked unknown object and an instruction to identify theunknown object to the determined unmanned vehicle; and receive afeedback message from the unmanned vehicle, and when the feedbackmessage carries information on an object category, save the informationon the object category and mark a category of the unknown object as thesaved object category. The information on the object category carried inthe feedback information is the information on the object category ofthe unknown object identified by the unmanned vehicle and is included inthe feedback information by the unmanned vehicle in response toidentifying an object based on sensed data obtained at the unmannedvehicle, comparing the object in the sensed data from the control devicewith the identified object and determining that the unknown object hasbeen identified.

With the solutions according to the embodiments of the presentdisclosure, a control device in a system for object identificationanalyzes sensed data obtained by a sensing device for objectidentification, determines an object not belonging to a predeterminedcategory as an unknown object, marks the unknown object in the senseddata, and transmits the sensed data with the marked unknown object to anunmanned vehicle within a predetermined range from the unknown object.The unmanned vehicle compares an object identified from sensed dataobtained at the unmanned vehicle with the unknown object marked in thesensed data from the control device to determine whether the unknownobject marked in the sensed data has been identified, and if so,transmit to the control device information on an object category. Inthis way, when the control device is unable to identify an object, theunknown object can be identified by utilizing the information obtainingcapability and the identifying capability of the unmanned vehicle,thereby solving the problem in the related art that a system forcentralized control and management of unmanned vehicles may not be ableto identify an object effectively.

BRIEF DESCRIPTION OF THE DRAWINGS

The figures are provided for facilitating further understanding of thepresent disclosure. The figures constitute a portion of the descriptionand can be used in combination with the embodiments of the presentdisclosure to interpret, rather than limiting, the present disclosure.In the figures:

FIG. 1 is a block diagram of a system for object identificationaccording to some embodiments of the present disclosure;

FIG. 2 is a flowchart illustrating a method for object identificationaccording to some embodiments of the present disclosure;

FIG. 3 is another flowchart illustrating a method for objectidentification according to some embodiments of the present disclosure;

FIG. 4 is another flowchart illustrating a method for objectidentification according to some embodiments of the present disclosure;

FIG. 5 is a block diagram of an apparatus for object identificationaccording to some embodiments of the present disclosure;

FIG. 6a is another block diagram of an apparatus for objectidentification according to some embodiments of the present disclosure;

FIG. 6b is another block diagram of an apparatus for objectidentification according to some embodiments of the present disclosure;

FIG. 7 is another block diagram of an apparatus for objectidentification according to some embodiments of the present disclosure;and

FIG. 8 is another block diagram of an apparatus for objectidentification according to some embodiments of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In the following, the solutions according to the embodiments of thepresent disclosure will be described clearly and completely withreference to the figures, such that the solutions can be betterunderstood by those skilled in the art. Obviously, the embodimentsdescribed below are only some, rather than all, of the embodiments ofthe present disclosure. All other embodiments that can be obtained bythose skilled in the art based on the embodiments described in thepresent disclosure without any inventive efforts are to be encompassedby the scope of the present disclosure.

In order to solve the problem in the related art that a system forcentralized control and management of unmanned vehicles may not be ableto identify an object effectively, the embodiments of the presentdisclosure provide a system, a method and an apparatus for objectidentification. With the solutions according to the embodiments of thepresent disclosure, a control device in a system for objectidentification analyzes sensed data obtained by a sensing device forobject identification, determines an object not belonging to apredetermined category as an unknown object, marks the unknown object inthe sensed data, and transmits the sensed data with the marked unknownobject to an unmanned vehicle within a predetermined range from theunknown object. The unmanned vehicle compares an object identified fromsensed data obtained at the unmanned vehicle with the unknown objectmarked in the sensed data from the control device to determine whetherthe unknown object marked in the sensed data has been identified, and ifso, transmit to the control device information on an object category. Inthis way, when the control device is unable to identify an object, theunmanned vehicle can identify the unknown object by obtaining morecomprehensive and clear information on the unknown object, so as tosolve the problem in the related art that a control and managementsystem for centralized management of unmanned vehicles may not be ableto identify an object effectively when a sensing device cannot obtaincomprehensive and usable information on the object.

The core idea of the present disclosure has been described above. Thesolutions according to the embodiments of the present disclosure will bedescribed in further detail below with reference to the figures, suchthat they can be better understood by those skilled in the art and thatthe above objects, features and advantages of the embodiments of thepresent disclosure will become more apparent.

FIG. 1 is a schematic diagram showing a system for object identificationaccording to some embodiments of the present disclosure. The systemincludes a sensing device 1, a control device 2 and at least oneunmanned vehicle 3.

The sensing device 1 may be configured to sense a vehicle runningcondition and a road condition to obtain sensed data. The sensing device1 may include at least one camera.

In some application scenarios, the sensing device 1 can sense a vehiclerunning condition and a road condition within a predetermined area orsite, or sense a vehicle or road condition within a particular area orsite in an open area.

The control device 2 may be configured to determine an object notbelonging to a predetermined category as an unknown object by performingobject identification based on the sensed data; mark the unknown objectin the sensed data including the unknown object; determine an unmannedvehicle within a predetermined range from the unknown object; transmitthe sensed data with the marked unknown object and an instruction toidentify the unknown object to the determined unmanned vehicle; receivea feedback message from the unmanned vehicle, and when the feedbackmessage carries information on an object category, save the informationon the object category and mark a category of the unknown object as thesaved object category.

The unmanned vehicle 3 may be configured to receive the instruction andthe sensed data from the control device 2; identify an object based onsensed data obtained at the unmanned vehicle; compare the object in thesensed data from the control device with the identified object todetermine whether the unknown object marked in the sensed data has beenidentified, and if so, transmit to the control device the feedbackmessage carrying the information on the object category of theidentified unknown object.

In the system shown in FIG. 1, when the control device determines thatan object does not belong to a predetermined category, it determines theobject as an unknown object and instructs an unmanned vehicle toidentify the object. As the unmanned vehicle typically has ahigh-resolution camera and other sensing devices, such as a laser radar,it can obtain more comprehensive information of the object and identitythe object based on the obtained information. In this way, the controldevice can identify the unknown object effectively by utilizing theinformation obtaining capability and the object identifying capabilityof the unmanned vehicle, thereby solving the problem in the related artthat a system for centralized control and management of unmannedvehicles may not be able to identify an object effectively.

In some other embodiments of the present disclosure, the control device2 may be further configured to, subsequent to marking the unknown objectin the sensed data including the unknown object: transmit the senseddata with the marked unknown object to a human identification process,receive a feedback message from the human identification process, andwhen the feedback message carries information on an object category,save the information on the object category and mark the category of theunknown object as the object category; or when the feedback messagecarries identification failure information, determine the unmannedvehicle within the predetermined range from the unknown object. That is,when the control device 2 cannot identify the unknown object, thecategory of the object may be identified by a human identificationprocess. However, due to the incomplete information of the unknownobject obtained by the sensing device 1, even the human process may failto identify the unknown object. In this case, the unmanned vehicle 3 maybe instructed to identify the unknown object. In this way, the humanidentification process may be utilized first to determine the categoryof the object timely, so as to meet a real-time control requirement ofthe control device 2. When the human identification process cannotdetermine the category of the object, the unmanned vehicle 3 may beinstructed to identify the unknown object, so as to identify the unknownobject effectively by utilizing the information obtaining capability andthe object identifying capability of the unmanned vehicle.

In some other embodiments of the present disclosure, the unmannedvehicle 3 may be further configured to mark an object corresponding tothe unknown object in the sensed data obtained at the unmanned vehicle,when determining that the unknown object has not been identified,transmit to the control device 2 a feedback message carryingidentification failure information and the sensed data obtained at theunmanned vehicle with the marked object. The control device 2 may befurther configured to transmit the sensed data obtained at the unmannedvehicle 3 with the marked object to a human identification process whenthe feedback message from the unmanned vehicle carries theidentification failure information; receive a feedback message from thehuman identification process, and when the feedback message carriesinformation on an object category, save the information on the objectcategory and mark the category of the unknown object as the saved objectcategory, or when the feedback message from the human identificationprocess carries identification failure information, transmit to a humancontrol process the received sensed data obtained at the unmannedvehicle and a human processing request for requesting the human controlprocess to perform an object identification based vehicle controlprocess. In specific application scenarios, in order to meet arequirement on processing speed, the unmanned vehicle 3 may limit thenumber of categories of objects to be identified. That is, the number ofcategories of objects that can be identified by the unmanned vehicle 3may be smaller than the number of categories of objects that can beidentified by the control device 2. When the unmanned vehicle 3 cannotidentify the category of the unknown object either, the category of theobject can be identified by the human identification process timely, soas to meet a real-time control requirement of the control device 2.

Based on the above embodiments, the control device 2 may be furtherconfigured to perform a vehicle control process based on the identifiedobject. The vehicle control process may include route planning ordriving policy decision.

The operation principle of the control device in FIG. 1 will beexplained below.

FIG. 2 is a flowchart illustrating a method for object identificationaccording to some embodiments of the present disclosure. The methodincludes the following steps.

At step 21, a control device determines an object not belonging to apredetermined category as an unknown object by performing objectidentification based on sensed data from a sensing device. The senseddata is obtained by the sensing device sensing a vehicle runningcondition and a road condition. The sensed data may be image dataobtained by a camera.

At step 22, the unknown object is marked in the sensed data includingthe unknown object.

That is, the marked sensed data is the sensed data including the markedunknown object. The present disclosure is not limited to any specificmethod for object identifying or object marking, for which any methodknown before or developed after the present disclosure may be used andmay be selected depending on requirements of specific applicationscenarios.

At step 23, an unmanned vehicle within a predetermined range from theunknown object is determined.

This step may be performed in conjunction with a positioning technique.With the positioning technique, a position of the unknown object on amap may be determined first based on the sensed data, and, with thepositioning technique, positions of unmanned vehicles on the map may bedetermined and then the unmanned vehicle within the predetermined rangefrom the position of the unknown object may be determined. The presentdisclosure is not limited to any specific positioning technique. Anypositioning technique known before or developed after the presentdisclosure may be used and any positioning algorithm may be selecteddepending on requirements of specific application scenarios.

The predetermined range may be set depending on requirements of specificapplication scenarios. For example, if a subsequent vehicle control ormanagement process based on the object identification requires a largevehicle response range, the predetermined range may be set to a largevalue; otherwise the predetermined range may be set to a small value.

At step 24, the sensed data with the marked unknown object and aninstruction to identify the unknown object are transmitted to thedetermined unmanned vehicle.

The control device may communicate with the unmanned vehicle by usingany of various communication schemes or protocols. The presentdisclosure is not limited to any specific communication scheme orprotocol.

At step 25, a feedback message is received from the unmanned vehicle,and when the feedback message carries information on an object category,the information on the object category is saved and a category of theunknown object is marked as the saved object category. The informationon the object category carried in the feedback information is theinformation on the object category of the unknown object identified bythe unmanned vehicle, and is included in the feedback information by theunmanned vehicle in response to identifying an object based on senseddata obtained at the unmanned vehicle, comparing the object in thesensed data from the control device with the identified object anddetermining that the unknown object has been identified.

With the above process, when the control device determines that anobject does not belong to a predetermined category, it determines theobject as an unknown object and instructs an unmanned vehicle toidentify the object. As the unmanned vehicle typically has ahigh-resolution camera and other sensing devices, such as a laser radar,it can obtain more comprehensive information of the object and identitythe object based on the obtained information efficiently. In this way,the control device can identify the unknown object effectively byutilizing the information obtaining capability and the objectidentifying capability of the unmanned vehicle, thereby solving theproblem in the related art that a system for centralized control andmanagement of unmanned vehicles may not be able to identify an objecteffectively.

Based on the method shown in FIG. 2, a method for object identificationis provided according to some embodiments of the present disclosure. Themethod may further include the following process after the step 22 andbefore the step 23 shown in FIG. 2, e.g., after the step 22, as shown inFIG. 3.

At step S1, the sensed data with the marked unknown object istransmitted to a human identification process.

At step S2, a feedback message is received from the human identificationprocess, and it is determined whether the feedback message carriesinformation on an object category. If so, the process proceeds with stepS3; otherwise the process proceeds with the step 23.

At step S3, when the feedback message carries the information on theobject category, the information on the object category is saved and thecategory of the unknown object is marked as the object category, theprocess proceeds with the step 23.

With the above process, when the control device cannot identify thecategory of the unknown object, it requests a human identificationprocess to identify the category of the unknown object first, such thatthe category of the object may be identified by the human identificationprocess. However, due to the incomplete information of the unknownobject obtained by the sensing device, even the human process may failto identify the unknown object. In this case, the unmanned vehicle maybe instructed to identify the unknown object. In this way, the humanidentification process may be utilized first to determine the categoryof the object timely, so as to meet a real-time control requirement ofthe control device. When the human identification process cannotdetermine the category of the object, the unmanned vehicle may beinstructed to identify the unknown object, so as to identify the unknownobject effectively by utilizing the information obtaining capability andthe object identifying capability of the unmanned vehicle.

Based on the method shown in FIG. 2 or 3, a method for objectidentification is provided according to some embodiments of the presentdisclosure. As shown in FIG. 4, the method may further include thefollowing process in addition to the method shown in FIG. 2 or 3.

At step 26, the control device receives the sensed data obtained at theunmanned vehicle from the unmanned vehicle. The sensed data obtained atthe unmanned vehicle includes a marked object corresponding to theunknown object determined by the control device.

That is, when the unmanned vehicle cannot identify the object, it marksthe object corresponding to the unknown object in the sensed dataobtained at the unmanned vehicle and transmits the sensed data obtainedat the unmanned vehicle with the marked object to the control device.

At step 27, when the feedback message from the unmanned vehicle carriesidentification failure information, the sensed data obtained at theunmanned vehicle with the marked object is transmitted to a humanidentification process.

At step 28, a feedback message is received from the human identificationprocess, and when the feedback message carries information on an objectcategory, the information on the object category is saved and thecategory of the unknown object is marked as the saved object category.

At step 29, when the feedback message from the human identificationprocess carries identification failure information, the received senseddata obtained at the unmanned vehicle and a human processing request forrequesting a human control process to perform an object identificationbased vehicle control process are transmitted to the human controlprocess.

In the process shown in FIG. 4, as an unmanned vehicle typicallyperforms object identification based on categories, i.e., predeterminedcategories, it has learned from training, an object not belonging to anyof the predetermined categories may not be identified. In typicalapplication scenarios, in order to meet a requirement on processingspeed, the unmanned vehicle may limit the number of categories ofobjects that can be identified. That is, the number of categories ofobjects that can be identified by the unmanned vehicle may be smallerthan the number of categories of objects that can be identified by thecontrol device. When the unmanned vehicle cannot identify the categoryof the unknown object, the human identification process can be requestedto identify the category of the unknown object, so as to further ensurethat the unknown object can be identified. In this way, the category ofthe object can be determined timely, so as to meet a real-time controlrequirement of the control device and provide correct data input to thesubsequent object identification based vehicle control managementprocess. When the human identification process cannot identify theunknown object either, the human control process may be requested toperform the subsequent object identification based vehicle controlmanagement process, so as to ensure that the object identification basedvehicle control management process may be performed properly.

Further, based on the methods shown in FIGS. 2-4, the control device maybe further configured to perform a vehicle control process based on theidentified object. The vehicle control process may include routeplanning or driving policy decision.

In some other embodiments of the present disclosure, the aboveembodiments may be combined with each other.

Based on the same inventive concept, an apparatus for objectidentification is also provided. The apparatus includes the followingmodules.

FIG. 5 is a block diagram of an apparatus for object identificationaccording to some embodiments of the present disclosure. The apparatusincludes the following modules.

A first determining module 51 may be configured to determine an objectnot belonging to a predetermined category as an unknown object byperforming object identification based on sensed data from a sensingdevice. The sensed data is obtained by the sensing device sensing avehicle running condition and a road condition.

A marking module 52 may be configured to mark the unknown object in thesensed data including the unknown object.

A second determining module 53 may be configured to determine anunmanned vehicle within a predetermined range from the unknown object.

A transceiving module 54 may be configured to transmit the sensed datawith the marked unknown object and an instruction to identify theunknown object to the determined unmanned vehicle and receive a feedbackmessage from the unmanned vehicle. The feedback information carriesinformation on an object category which is information on an objectcategory of the unknown object identified by the unmanned vehicle and isincluded in the feedback information by the unmanned vehicle in responseto identifying an object based on sensed data obtained at the unmannedvehicle, comparing the object in the sensed data from the control devicewith the identified object and determining that the unknown object hasbeen identified.

A saving module 55 may be configured to save, when the feedback messagecarries the information on the object category, the information on theobject category and mark a category of the unknown object as the savedobject category.

With the above solution, when the control device determines that anobject does not belong to a predetermined category, it determines theobject as an unknown object and instructs an unmanned vehicle toidentify the object. As the unmanned vehicle typically has ahigh-resolution camera and other sensing devices, such as a laser radar,it can obtain more comprehensive information of the object and identitythe object based on the obtained information. In this way, the controldevice can identify the unknown object effectively by utilizing theinformation obtaining capability and the object identifying capabilityof the unmanned vehicle, thereby solving the problem in the related artthat a system for centralized control and management of unmannedvehicles may not be able to identify an object effectively.

In some other embodiments of the present disclosure, as shown in FIG. 6a, the apparatus may further include a human interface module 56configured to transmit the sensed data with the unknown object marked bythe marking module 52 to a human identification process and receive afeedback message from the human identification process.

The saving module 55 may be further configured to save, when thefeedback message carries information on an object category, theinformation on the object category and mark the category of the unknownobject as the object category.

The second determining module 53 may be further configured to determinethe unmanned vehicle within the predetermined range from the unknownobject when the feedback message carries identification failureinformation.

With the above solution, when the control device cannot identify thecategory of the unknown object, it requests a human identificationprocess to identify the category of the unknown object first, such thatthe category of the object may be identified by the human identificationprocess. However, due to the incomplete information of the unknownobject obtained by the sensing device, even the human process may failto identify the unknown object. In this case, the unmanned vehicle maybe instructed to identify the unknown object. In this way, the humanidentification process may be utilized first to determine the categoryof the object timely, so as to meet a real-time control requirement ofthe control device. When the human identification process cannotdetermine the category of the object, the unmanned vehicle may beinstructed to identify the unknown object, so as to identify the unknownobject effectively by utilizing the information obtaining capability andthe object identifying capability of the unmanned vehicle.

In some other embodiments of the present disclosure, as shown in FIG. 6b, the transceiving module 54 may be further configured to receive thesensed data obtained at the unmanned vehicle from the unmanned vehicle.The sensed data obtained at the unmanned vehicle includes a markedobject corresponding to the unknown object determined by the controldevice.

The human interface module 56 may be configured to transmit the senseddata obtained at the unmanned vehicle with the marked object to a humanidentification process when the feedback message from the unmannedvehicle carries identification failure information and receive afeedback message from the human identification process.

The saving module 55 may be further configured to save, when thefeedback message from the human identification process carriesinformation on an object category, the information on the objectcategory and mark the category of the unknown object as the saved objectcategory.

The human interface module 56 may be further configured to transmit,when the feedback message from the human identification process carriesidentification failure information, to a human control process thereceived sensed data obtained at the unmanned vehicle and a humanprocessing request for requesting the human control process to performan object identification based vehicle control process.

With the above solution, as an unmanned vehicle typically performsobject identification based on categories, i.e., predeterminedcategories, it has learned from training, an object not belonging to anyof the predetermined categories may not be identified. In typicalapplication scenarios, in order to meet a requirement on processingspeed, the unmanned vehicle may limit the number of categories ofobjects that can be identified. That is, the number of categories ofobjects that can be identified by the unmanned vehicle may be smallerthan the number of categories of objects that can be identified by thecontrol device. When the unmanned vehicle cannot identify the categoryof the unknown object, the human identification process can be requestedto identify the category of the unknown object, so as to further ensurethat the unknown object can be identified. In this way, the category ofthe object may be determined timely, so as to meet a real-time controlrequirement of the control

What is claimed is:
 1. A system for object identification, comprising asensing device, a control device and one or more unmanned vehicles,wherein the sensing device is configured to sense a vehicle runningcondition and a road condition to obtain sensed data; the control deviceis configured to: determine an object not belonging to a predeterminedcategory as an unknown object by performing object identification basedon the sensed data; mark the unknown object in the sensed data thatinclude the unknown object; determine an unmanned vehicle within apredetermined range from the unknown object; transmit the sensed datawith the marked unknown object and an instruction to identify theunknown object to the determined unmanned vehicle; and receive afeedback message from the unmanned vehicle; and the unmanned vehicle isconfigured to: receive the instruction and the sensed data from thecontrol device; identify an object based on sensed data obtained at theunmanned vehicle; compare the object in the sensed data from the controldevice with the identified object to determine whether the unknownobject marked in the sensed data has been identified, and if so,transmit to the control device the feedback message carrying theinformation on the object category of the identified unknown object. 2.The system of claim 1, wherein the unmanned vehicle is furtherconfigured to mark an object corresponding to the unknown object in thesensed data obtained at the unmanned vehicle, when determining that theunknown object has not been identified, transmit to the control device afeedback message carrying identification failure information and thesensed data obtained at the unmanned vehicle with the marked object. 3.The system of claim 1, wherein the control device is further configuredto: transmit the sensed data obtained at the unmanned vehicle with anobject marked by the unmanned object that corresponds to the object to ahuman identification process when the feedback message from the unmannedvehicle carries the identification failure information; receive afeedback message from the human identification process; and when thefeedback message carries information on an object category, save theinformation on the object category and mark the category of the unknownobject as the saved object category.
 4. The system of claim 3, whereinthe control device is further configured to: when the feedback messagefrom the human identification process carries identification failureinformation, transmit to a human control process the received senseddata obtained at the unmanned vehicle and a human processing request forrequesting the human control process to perform an object identificationbased vehicle control process.
 5. The system of claim 1, wherein thecontrol device is further configured to, subsequent to marking theunknown object in the sensed data including the unknown object: transmitthe sensed data with the marked unknown object to a human identificationprocess.
 6. The system of claim 5, wherein said determining the unmannedvehicle within the predetermined range from the unknown objectcomprises: receiving a feedback message from the human identificationprocess, and when the feedback message carries information on an objectcategory, saving the information on the object category and marking thecategory of the unknown object as the object category; and when thefeedback message carries identification failure information, determiningthe unmanned vehicle within the predetermined range from the unknownobject.
 7. The system of claim 1, wherein the control device is furtherconfigured to perform a vehicle control process based on the identifiedobject, the vehicle control process comprising route planning or drivingpolicy decision.
 8. A method for object identification, comprising:determining, by a control device, an object not belonging to apredetermined category as an unknown object by performing object basedon sensed data from a sensing device, the sensed data being obtained bythe sensing device sensing a vehicle running condition and a roadcondition; marking, by the control device, the unknown object in thesensed data including the unknown object; determining, by the controldevice, an unmanned vehicle within a predetermined range from theunknown object; transmitting, by the control device, the sensed datawith the marked unknown object and an instruction to identify theunknown object to the determined unmanned vehicle; and receiving, by thecontrol device, a feedback message from the unmanned vehicle, and whenthe feedback message carries information on an object category, savingthe information on the object category and marking a category of theunknown object as the saved object category.
 9. The method of claim 8,wherein the information on the object category carried in the feedbackinformation is the information on the object category of the unknownobject identified by the unmanned vehicle and is included in thefeedback information by the unmanned vehicle in response to identifyingan object based on sensed data obtained at the unmanned vehicle,comparing the object in the sensed data from the control device with theidentified object and determining that the unknown object has beenidentified.
 10. The method of claim 8, further comprising: receiving, bythe control device, the sensed data obtained at the unmanned vehiclefrom the unmanned vehicle, the sensed data obtained at the unmannedvehicle including a marked object corresponding to the unknown objectdetermined by the control device; transmitting, by the control device,the sensed data obtained at the unmanned vehicle with the marked objectto a human identification process when the feedback message from theunmanned vehicle carries identification failure information; andreceiving, by the control device, a feedback message from the humanidentification process, and when the feedback message carriesinformation on an object category, saving the information on the objectcategory and marking the category of the unknown object as the savedobject category.
 11. The method of claim 10, further comprising:transmitting, when the feedback message from the human identificationprocess carries identification failure information, to a human controlprocess the received sensed data obtained at the unmanned vehicle and ahuman processing request for requesting the human control process toperform an object identification based vehicle control process.
 12. Themethod of claim 8, wherein the control device is further configured to,subsequent to marking the unknown object in the sensed data includingthe unknown object: transmit the sensed data with the marked unknownobject to a human identification process, and wherein said determiningthe unmanned vehicle within the predetermined range from the unknownobject comprises: receiving a feedback message from the humanidentification process, and when the feedback message carriesinformation on an object category, saving the information on the objectcategory and marking the category of the unknown object as the objectcategory; or when the feedback message carries identification failureinformation, determining the unmanned vehicle within the predeterminedrange from the unknown object.
 13. The method of claim 8, furthercomprising: performing, by the control device, a vehicle control processbased on the identified object, the vehicle control process comprisingroute planning or driving policy decision.
 14. An apparatus for objectidentification, comprising: a first determining module configured todetermine an object not belonging to a predetermined category as anunknown object by performing object identification based on sensed datafrom a sensing device, the sensed data being obtained by the sensingdevice sensing a vehicle running condition and a road condition; amarking module configured to mark the unknown object in the sensed dataincluding the unknown object; a second determining module configured todetermine an unmanned vehicle within a predetermined range from theunknown object; a transceiving module configured to transmit the senseddata with the marked unknown object and an instruction to identify theunknown object to the determine unmanned vehicle and receive a feedbackmessage from the unmanned vehicle, the feedback information carryinginformation on an object category which is information on an objectcategory of the unknown object identified by the unmanned vehicle and isincluded in the feedback information by the unmanned vehicle in responseto identifying an object based on sensed data obtained at the unmannedvehicle, comparing the object in the sensed data from the control devicewith the identified object and determining that the unknown object hasbeen identified; and a saving module configured to save, when thefeedback message carries the information on the object category, theinformation on the object category and mark a category of the unknownobject as the saved object category.
 15. The apparatus of claim 14,further comprising a human interface module, the human interface moduleconfigured to transmit the sensed data obtained at the unmanned vehiclewith the marked object to a human identification process when thefeedback message from the unmanned vehicle carries identificationfailure information and receive a feedback message from the humanidentification process; and the saving module is further configured tosave, when the feedback message from the human identification processcarries information on an object category, the information on the objectcategory and mark the category of the unknown object as the saved objectcategory.
 16. The apparatus of claim 15, wherein the human interfacemodule is further configured to: transmit, when the feedback messagefrom the human identification process carries identification failureinformation, to a human control process the received sensed dataobtained at the unmanned vehicle and a human processing request forrequesting the human control process to perform an object identificationbased vehicle control process.
 17. The apparatus of claim 14, furthercomprising a human interface module configured to transmit the senseddata with the unknown object marked by the marking module to a humanidentification process and receive a feedback message from the humanidentification process, wherein: the saving module is configured tosave, when the feedback message carries information on an objectcategory, the information on the object category and mark the categoryof the unknown object as the object category, and the second determiningmodule is configured to determine the unmanned vehicle within thepredetermined range from the unknown object when the feedback messagecarries identification failure information.
 18. The apparatus of claim14, further comprising a control module configured to perform a vehiclecontrol process based on the identified object, the vehicle controlprocess comprising route planning.
 19. The apparatus of claim 14,further comprising a control module configured to perform a vehiclecontrol process based on the identified object, the vehicle controlprocess comprising driving policy decision.
 20. The apparatus of claim14, wherein the transceiving module is further configured to receive thesensed data obtained at the unmanned vehicle from the unmanned vehicle,the sensed data obtained at the unmanned vehicle including a markedobject corresponding to the unknown object determined by the controldevice.